CN107848613B

CN107848613B - Connecting device for recovering unmanned ship and connection control method using same

Info

Publication number: CN107848613B
Application number: CN201780002603.7A
Authority: CN
Inventors: 金善泳; 金演圭; 孙南善
Original assignee: Korea Academy Of Marine Science And Technology
Current assignee: Korea Academy Of Marine Science And Technology
Priority date: 2016-03-29
Filing date: 2017-03-15
Publication date: 2020-01-17
Anticipated expiration: 2037-03-15
Also published as: CN107848613A; EP3345823A1; US20180208274A1; JP2018526263A; EP3345823B1; EP3345823A4; WO2017171273A1; JP6591044B2; US10556644B2

Abstract

The invention relates to a connecting device for recovering an unmanned ship and a connection control method using the same, wherein the connecting device comprises: a connection unit connected to a crane provided on the mother ship and moving up and down, formed in a strip shape, and having one side selectively expanded and protruded along an outer circumference; a receiving unit provided in the unmanned ship, having a connecting hole communicating vertically, and into which at least a part of the connecting unit is inserted; a guide unit which guides the connection unit to be connected to the receiving unit, and which includes a pulling rope formed in a long shape and connected to the connection unit while one side thereof passes through the connection hole, and a winch which is connected to the other side of the pulling rope and selectively winds or unwinds the pulling rope; and a control unit including a sensing unit for sensing a tension applied to the hauling rope by driving of the winch, and a control unit for lowering the coupling unit connected to the crane when the tension sensed by the sensing unit is greater than or equal to a set value, and lowering the coupling unit corresponding to a length of the hauling rope wound by the winch so that the coupling unit is connected to the receiving unit when the coupling unit is lowered.

Description

Connecting device for recovering unmanned ship and connection control method using same

Technical Field

The present invention relates to a coupling device for recovering an unmanned ship and a coupling control method using the same, and more particularly, to a coupling device for recovering an unmanned ship and a coupling control method using the same, in which the degree of winding or unwinding of a pulling rope and the lifting and lowering of the coupling device are controlled so that the pulling rope provided in the unmanned ship is coupled to the coupling device provided in a mother ship and the coupling device is coupled to the unmanned ship.

Background

With the development of unmanned technologies, unmanned boats have been actively developed for performing operations that are dangerous to be performed by manned ships and have low efficiency in conventional offshore operations such as marine surveys, marine surveillance, and marine accident response.

When the unmanned boat is used in the sea, the method is used for loading the unmanned boat onto a mother ship and running the unmanned boat to launch the unmanned boat to perform tasks if necessary, and the unmanned boat is recovered to the mother ship again after the tasks are performed. This method has an advantage in that it can reduce the time required for the unmanned ship to be transferred from the land to the sea, and a remote control station for remotely monitoring and controlling the condition of the unmanned ship is provided on the mother ship, and thus it can reduce the distance between the unmanned ship and the remote control station. Conversely, using drones in this manner requires finding ways in which the drones can be recovered on the mother ship.

Various methods of recovering the unmanned ship to the mother ship are under development, and one of the methods is to launch a skimming rope equipped to the unmanned ship to the mother ship, to hang it on a crane or an electric winch by a crew, and to recover the unmanned ship.

However, in case of recovering the unmanned ship using a crane equipped on a mother ship or the like, it is necessary to connect a cable connected to the crane to the unmanned ship, but since the unmanned ship does not carry a crew member, the crew member is required to move from the mother ship to the unmanned ship and connect the cable or the unmanned ship using a hook or the like, but there is a problem that it is difficult to perform work in a sea with high waves. That is, a safety accident may occur when the crew moves to the unmanned boat to connect the cable. It is therefore desirable to provide a solution to this problem.

Disclosure of Invention

Technical problem to be solved

The present invention has been made to solve the above-described conventional problems, and an object of the present invention is to provide a connecting device for recovering an unmanned ship and a connection control method using the same, which can connect a connection unit of a crane provided on a mother ship or a dock to a storage unit provided on the mother ship and transfer the unmanned ship to a position adjacent to the connection unit.

Further, since the unmanned ship transferred to the position adjacent to the connection unit can be recovered before being connected to the connection unit on the water surface, it is possible to prevent an excessive load from being applied to the connection device, and to control the connection unit to be connected to the housing unit.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood from the following description by a person of ordinary skill in the art to which the present invention pertains.

Means for solving the problems

In order to achieve the above object, the present invention provides a connecting device for recovering an unmanned ship and a connection control method using the same, comprising: a connection unit connected to a crane provided on the mother ship and moving up and down, formed in a strip shape, and having one side selectively expanded and protruded along an outer circumference; a receiving unit provided in the unmanned ship, having a connecting hole formed therein and communicating vertically, and into which at least a part of the connecting unit is inserted; a guide unit which guides the connection unit to be connected to the receiving unit, and which includes a pulling rope formed in a long shape and connected to the connection unit while one side thereof passes through the connection hole, and a winch which is connected to the other side of the pulling rope and selectively winds or unwinds the pulling rope; and a control unit including a sensing unit for sensing a tension applied to the hauling rope by driving of the winch, and a control unit for lowering the coupling unit connected to the crane when the tension sensed by the sensing unit is greater than or equal to a set value, and lowering the coupling unit corresponding to a length of the hauling rope wound by the winch so that the coupling unit is connected to the receiving unit when the coupling unit is lowered.

When the magnitude of the tension sensed by the sensing unit is equal to or less than a set value, the control unit rotates the winch to move the unmanned ship to a position adjacent to the parent ship by the hauling rope wound around the winch.

When the connection unit and the storage unit are connected, the control unit interrupts the driving of the winch.

When the connection unit is disengaged from the housing unit, the control unit unlocks the winch to allow the connection unit to be disengaged.

The set value is a magnitude of tension applied to the pulling rope when the winch winds the pulling rope so that the unmanned boat is lifted above the water surface.

Further, the connection unit includes: a body formed in a vertically long strip shape, and an upper portion of the body is connected to the crane; a blade portion which is formed at one point in the longitudinal direction of the body so as to be rotatable in the vertical direction, and one side of which protrudes outward of the body when rotated; a lifting part which is connected with the other side of the blade part in the body and can adjust the position along the vertical direction so as to adjust the protrusion of the blade part; and a driving part which selectively moves the lifting part up and down in the main body.

The driving unit is configured to be selectively rotated in a vertical direction to form a long axis, and the elevating unit is adjusted in vertical position by the rotation of the driving unit.

The elevating portion includes at least one elastic member disposed in a vertical direction, and the elastic member is connected to the other side of the vane portion.

When the connection unit is inserted into the storage unit, the blade portion is inserted in an expanded state, and the blade portion is temporarily folded due to the elasticity of the elastic member.

The plurality of blade portions are formed along the outer circumference of the connecting unit at intervals.

Further, the storage unit includes: a support section provided in the unmanned surface vehicle; and a guide portion provided with the connection hole at an upper portion of the support portion and guiding the upper connection unit to be introduced into the connection hole.

Moreover, the guide portion includes: a first guide surface having a larger circumferential length than the connecting means and having an inclined surface whose circumferential length decreases toward a lower portion; and a second guide surface continuously formed at a lower portion of the first guide surface and having a relatively larger inclination angle.

The first guide surface is formed to have a curvature in a downward direction in a cross-sectional shape along the vertical direction.

The second guide surface is formed to be inclined in the vertical direction and is in contact with the outer surface of the connecting means.

In order to achieve the above object of the present invention, a connection control method using a connecting device for unmanned boat recovery includes: a launching step, wherein the hauling rope is launched to the mother ship through the launching device; a traction rope connection step of connecting the traction rope with the connection unit connected to the crane; an unmanned ship towing step of winding the towing rope by the winch to tow the unmanned ship so that the unmanned ship is adjacent to the parent ship; a connection unit connection step of, when the tension applied to the pulling rope is equal to or greater than the set value, dropping the connection unit in accordance with the length of the pulling rope wound by the winch and connecting the connection unit to the housing unit; and an unmanned ship recovery step of lifting the unmanned ship by using the crane and recovering the unmanned ship to the mother ship.

In the unmanned ship recovery step, when the connection unit is connected to the storage unit, the driving of the winch is interrupted to lift the unmanned ship.

Advantageous effects

The connecting device for recovering the unmanned ship and the connection control method using the same according to the present invention have the following effects.

First, in order to connect the connection unit of the crane provided on the mother ship or the quay with the receiving unit provided on the unmanned boat, the unmanned boat may be transferred to a position adjacent to the connection unit.

Second, in order to recover the unmanned boat transferred to a position adjacent to the coupling unit before the unmanned boat is coupled to the coupling unit on the water surface, it is possible to prevent the coupling device from being excessively loaded and thus there is an advantage in that it is possible to prevent the winch from being overloaded and the traction rope from being broken.

Thirdly, the unmanned ship can be recovered to the mother ship without the help of personnel, thereby having an advantage that the occurrence of human life accidents can be prevented.

The effects of the present invention are not limited to the above-described effects, and other effects not mentioned can be clearly understood from the description of the scope of the present invention by those skilled in the art to which the present invention pertains.

Drawings

The detailed description of the embodiments of the present application described below and the summary of the description above are more readily understood when considered in connection with the accompanying drawings. The application has been described in detail for the purpose of illustration in the drawings. The exact configuration and tools illustrated in this application are not limiting.

Fig. 1 is a view showing an unmanned ship of a connecting device for unmanned ship recovery according to an embodiment of the present invention.

Fig. 2 is a diagram showing a connection unit of the unmanned boat recovery connection device according to the embodiment of the present invention.

Fig. 3 is a diagram showing a connection state between a mother ship and an unmanned ship in the unmanned ship recovery connection device according to the embodiment of the present invention.

Fig. 4 is a view showing that a cast skimming line is launched onto a mother ship by a launching device in a connection control method using a connecting device for unmanned boat recovery according to an embodiment of the present invention.

Fig. 5 is a view showing a process in which an unmanned ship moves to a position adjacent to a mother ship in a connection control method using a connecting device for unmanned ship recovery according to an embodiment of the present invention.

Fig. 6 is a diagram showing a position of the unmanned boat near the mother ship in the connection control method using the unmanned boat recovery connection device according to the embodiment of the present invention.

Fig. 7 is an enlarged view showing a case where the connecting device is dropped into the storage unit in the connection control method using the connecting device for unmanned boat recovery according to the embodiment of the present invention.

Fig. 8 is a diagram showing the coupling device hanging to the guide portion in the coupling control method using the coupling device for unmanned boat recovery according to the embodiment of the present invention.

Fig. 9 is a diagram showing a connection control method using the unmanned ship recovery connection device according to the embodiment of the present invention, in which the unmanned ship is recovered to the mother ship.

Fig. 10 is a diagram showing a connection control method using the unmanned boat recovery connection device according to the embodiment of the present invention, in which the connection unit is detached from the storage unit.

Fig. 11 is a diagram showing an operation sequence of a connection control method using a connecting device for unmanned boat recovery according to an embodiment of the present invention.

Reference numerals

10: the mother ship 200: accommodating unit

30: the crane 210: support part

50: unmanned boat 230: guide part

100: the connection unit 231: connecting hole

110: the body 233: first guide surface

130: blade portion 235: second guide surface

150: the lifting part 300: guiding unit

151: the elastic member 310: traction rope

180: the driving section 330: winch

400: the transmitting device 410: left-falling cable

430: transmitting component

Detailed Description

Hereinafter, preferred embodiments of the present invention that specifically achieve the objects of the present invention will be described with reference to the accompanying drawings. In the description of the present embodiment, the same reference numerals and signs are used for the same components, and the description thereof will not be repeated.

The configurations shown in the drawings for explaining the embodiments of the present invention are merely examples for facilitating understanding of the detailed description, and the embodiments are not limited to the figures and the scope of protection.

A connecting device for recovering an unmanned ship according to an embodiment of the present invention will be described with reference to fig. 1 to 3.

Here, fig. 1 is a view showing an unmanned ship of an unmanned ship recovery coupling device according to an embodiment of the present invention, fig. 2 is a view showing a coupling unit of an unmanned ship recovery coupling device according to an embodiment of the present invention, and fig. 3 is a view showing a coupling state between a parent ship and an unmanned ship of an unmanned ship recovery coupling device according to an embodiment of the present invention.

As shown in fig. 1 to 3, the unmanned ship recovery connection device according to the embodiment of the present invention includes a connection unit 100, a storage unit 200, a guide unit 300, and a control unit (not shown).

The connection unit 100 is connected to the crane 30 provided on the mother ship 10, moves up and down, is formed in an elongated shape, and has one side selectively expanded and protruded along an outer circumference, and includes a body 110, a blade 130, an elevating portion 150, and a driving portion 180 as a component connectable to a storage unit 200 provided on an unmanned boat 50, which will be described later.

The body 110 is formed in a vertically elongated shape, and has a first link 111 connected to the cable of the crane 30 at an upper portion thereof and a second link 113 connected to a traction rope 310, which will be described later, at a lower portion thereof.

Here, the crane 30 cable is a cable for connecting the crane 30 and the connection unit 100, and is an additional component for lifting the connection unit 100 by lifting the crane 30 cable as a hoist of the winch 330 equipped in the crane 30, and a specific driving method thereof will be apparent to those skilled in the art, and thus, a description thereof will be omitted.

The body 110 is formed in a cylindrical shape, and at least a portion thereof is shorter toward the lower outer circumference.

The blade portions 130 selectively expand and protrude along the outer circumference of the body 110.

The blade 130 is formed at one point in the longitudinal direction of the body 110 to be rotatable in the vertical direction, and one side thereof protrudes to the outside of the body 110 when rotated.

The plurality of blade portions 130 are formed along the outer circumference of the body 110 at intervals.

In this case, each of the vane portions 130 may be hinged to a lower inside of the body 110 so as to be rotatable in a vertical direction, one side of which may be accommodated in the body 110 or protruded, and the other side of which is connected to the elevating portion 150, which will be described later.

The elevating part 150 may include an elastic member 151 for adjusting whether the vane part protrudes or not, that is, one side of the vane part 130 protrudes outward from the body 110 when the elevating part 150 moves to the lower side, and one side of the vane part 130 is received in the body 110 when the elevating part 150 moves to the upper side, because the elevating part 180, which will be described later, may adjust the position in the vertical direction when the other side of the vane part 130 touches the inside of the body 110.

The elastic members 151 are formed in the same number corresponding to the number of the blade portions 130, and are arranged in the vertical direction.

One end of each of the elastic members 151 may be connected to an upper end of the elevating part 150, and the other end may be connected to a hook formed at the other side of each of the vane parts 130.

Further, the elastic member 151 has the same length as that of the elevating portion 150, and when the elevating portion 150 moves upward and is separated from the vane portion 130, the elastic member 151 connected to the other side of the vane portion 130 has an elastic restoring force to restore the original length, so that the other side of the vane portion 130 can be pulled toward the upper side of the body 110 such that the one side of the vane portion 130 protrudes outward from the body 110.

The driving part 180 may include a motor 181 and a driving shaft 183 as a component for selectively moving the elevating part 150 up and down, and the elevating part 150 controls whether the vane part 130 protrudes from the inside of the body 110.

The motor 181 is connected to the driving shaft 183 inside the body 110, and rotates the driving shaft 183.

Here, the engine 181 is provided as another system that can be remotely controlled in an operation room or a control room, or can be equipped with a sensor to be automatically operated by the sensor, and a specific system operation method thereof will be apparent to those skilled in the art, and thus, a description thereof will be omitted.

The driving shaft 183 is formed in a vertically elongated shape and is connected to the inside of the elevating part 150 such that the elevating part 150 moves upward when the driving shaft 183 rotates in one direction from the central axis, and the elevating part 150 moves downward when the driving shaft 183 rotates in the other direction from the central axis.

Accordingly, the driving shaft 183 is rotated by the driving of the motor 181 and moves the elevating unit 150 in the vertical direction.

The storage unit 200 is provided in the unmanned boat 50, has a vertically communicating connection hole 231 for inserting at least a part of the connection unit 100, and includes a support portion 210 and a guide portion 230 as components of the blade portion 130 protruding from the inside of the storage unit 200 and connecting the connection unit 100.

The support part 210 is provided in the unmanned boat 50 to support the guide part 230 of the connection unit 100 to which the crane 30 is actually connected, and the guide unit 300, which will be described later, is provided in the support part 210, and a through hole for passing the pulling rope 310 is formed on the upper surface side.

The support portion 210 is used to stably fix the guide portion 230 to a predetermined height so as to facilitate connection with the connection unit 100.

The guide part 230 is formed in a cylindrical shape, and the upper portion of the support part 210 has the connection hole 231 communicating with the through hole, is a member for guiding the upper connection unit 100 to be introduced into the connection hole 231, and includes a first guide surface 233 and a second guide surface 235.

The first guide surface 233 has a longer circumferential length than the connecting unit 100, and has an inclined surface whose circumferential length decreases toward the lower portion, and a cross-sectional shape in the vertical direction is formed to have a curvature toward the lower portion.

That is, the first guide surface 233 is inclined downward from the outer surface toward the inner surface and has a curvature.

Therefore, when the connection unit 100 moves downward on the outer surface, it can be guided to move to the inner surface.

The second guide surface 235 is continuously formed at a lower portion of the first guide surface 233 with a relatively larger inclination angle.

More specifically, the second guide surface 235 is formed to be inclined in the vertical direction and contacts the outer surface of the connection unit 100.

That is, when the connection unit 100 is drawn into the connection hole 231 and the circumferential length of the body 110 of the connection unit 100 is longer than the circumferential length of the second guide surface 235, a portion of the connection unit 100 contacting the second guide surface 235 is drawn into the housing unit 200 and fixed.

Next, the guide unit 300 includes the traction rope 310 and the winch 330 as a unit for guiding the connection unit 100 to be connected to the receiving unit 200.

The traction rope is formed in an elongated shape, and is connected to the connection unit 100 while penetrating the connection hole 231 at one side thereof.

One end of the pulling rope is transferred to the mother ship 10 by a launching device 400 provided in the unmanned boat 50 and connected to the second link 113.

In this case, the launching device 400 may be provided at one side of the unmanned boat 50, and may be a device for launching the hauling rope 310 connected to the second link 113 to the mother boat 10.

This launching device 400 may be a formation in the shape of a Cannon (Cannon) that includes a skimmer cable 410.

The skimmer cable 410 is formed in a long bar shape, one end of which is connected to the launcher 400, and the other end of which is formed with a launching member 430.

One end of the pulling line 310 may be connected to a skimmer cable 410 so that the pulling line 310 may be transferred to the parent vessel 10 when the skimmer cable 410 is launched onto the parent vessel 10.

When the skimmer cable 410 is launched onto the mother vessel 10, the person on the mother vessel 10 can connect the pull line 310 to the second link 113.

At this time, the launching device 400 is described as a structure of a gun-shaped figure to launch the skimmer cable 410 onto the parent vessel 10, but this is merely an example to help understanding the detailed description of the present embodiment, and the launching device 400 may be any structure such as an unmanned aerial vehicle (Drone) or a buoy as long as it can transfer the tow rope 310 onto the parent vessel 10, as well as the launcher image structure to launch the skimmer cable 410.

The winch 330 is connected to the other side of the traction rope 310 to selectively wind or unwind the traction rope 310.

The winch 330 winds the traction rope 310 connected to the coupling unit 100 so that the coupling unit 100 can be connected to the receiving unit 200.

The winch 330 unlocks the towing rope 310 so that the coupling unit 100 coupled to the storage unit 200 can be disengaged from the storage unit 200 when the unmanned boat 50 is recovered to the mother ship 10 or when the unmanned boat 10 enters the sea water.

Here, a specific driving method of the winch 330 as another system for winding or unwinding the traction rope 310 will be apparent to those skilled in the art, and thus a description thereof will be omitted.

The control unit includes a sensing unit (not shown) and a control unit (not shown) as a means for controlling the winding or unwinding degree of the winch 300 and the winding or unwinding degree of the crane 30 so that the connection unit 100 is connected to the receiving unit 200.

The sensing unit may be provided inside or outside the unmanned boat 50 to sense the magnitude of the tension applied to the traction rope 310 by the driving of the winch 330.

More specifically, the magnitude of the tension applied to the traction rope 310 when the traction rope 310 connected to the second link 113 is wound around the winch 330 by driving the winch 330 is sensed, and a signal is transmitted to the control unit when the magnitude of the tension is equal to or greater than a set value.

Here, the set value is a magnitude of tension applied to the towing rope 310 when the winch 330 winds the towing rope 310 to lift the unmanned boat 50 to the water surface.

More specifically, when the winch 330 winds the pulling rope 310 connected to the coupling unit 100, the unmanned surface vehicle 50 is positioned on the same vertical line as the coupling unit 100, and the magnitude of the tension is large when the unmanned surface vehicle 50 moves upward to be connected to the coupling unit 100.

The control unit is used to control the winding or unwinding degree of the winch 330 and the ascending or descending of the connection unit 100.

When the magnitude of the tension sensed by the sensing unit is greater than or equal to the set value, the control unit drops the connection unit 100 connected to the crane 30.

Accordingly, the unmanned boat 50 is prevented from being lifted before the coupling unit is coupled to the winch unit on the water surface by winding the pulling rope 310 around the coupling unit 100 at the set value or more, thereby preventing overload of the winch 330 or breakage of the pulling rope 310.

In addition, the tension applied to the pulling rope 310 is maintained at the set value by dropping the connection unit 100 according to the length of the pulling rope 310 wound by the winch 330.

That is, the unmanned surface vehicle 50 is maintained to be aligned with the coupling unit 100 in the vertical direction, and the coupling unit 100 is coupled to the storage unit 200.

When the unmanned boat 50 is shaken too much due to an excessively high sea wave height and the magnitude of the tension applied to the pulling rope 310 is rapidly increased with respect to the set value, the winch 330 is overloaded or the pulling rope 310 is broken even if the connection unit 100 is dropped.

Therefore, when the magnitude of the tension applied to the pulling rope 310 rapidly increases with respect to the set value, the control unit unwinds the pulling rope 310 to reduce the magnitude of the tension applied to the pulling rope 310 to a set value or less.

That is, when the tension of the traction rope 310 rapidly increases with respect to the set value, the tension of the traction rope 310 cannot be maintained at the set value only by the drop of the coupling unit 100, and thus the unwinding of the traction rope 310 prevents the overload of the winch 330 or the breakage of the traction rope 310.

Of course, the allowable tension of the traction rope is greater than the set value for safety.

When the coupling unit 100 and the storage unit 200 are coupled, the controller interrupts the driving of the winch 330 to prevent the unmanned boat 50 from being lifted before the water surface is coupled to the coupling unit to overload the coupling device when the pulling rope 310 is wound around the coupling unit 100.

When the connection unit 100 is separated from the storage unit 200, the control unit unlocks the winch 330 to control the connection unit 100 to be separable.

More specifically, the connection unit 100 is lowered by winding the winch 330 so that the blade 130 is spaced apart from the inner surface of the housing unit 200, and the driving unit 180 is driven so that the blade 130 is housed in the body 110.

At this time, the control unit unlocks the winch 330 and lifts the crane 30 to separate the connection unit 100 from the storage unit 200.

Here, the control unit may be a separate system for checking the set value transmitted from the sensing unit and controlling the crane 30 and the winch 330 according to the set value, may be installed at any one of the unmanned boat 50 and the crane 30, and may be an automated system for performing a remote manual operation.

The launching step and the pulling step of the coupling control method using the coupling device for unmanned boat recovery according to the embodiment of the present invention will be described below with reference to fig. 4.

Fig. 4 is a diagram of launching a skimming rope to a mother ship for a launching device of a connection control method using a connecting device for unmanned boat recovery according to an embodiment of the present invention.

As shown in fig. 4, the launching step is a step of launching the traction rope 310 to the mother ship through the launching device 400.

In more detail, when the unmanned boat 50 returns to the mother ship 10 after completing operations such as rescue personnel in an accident sea area or exploration for finding the cause of an accident of the ship, the pulling rope 310 is launched to the mother ship 10 by the launching device 400.

That is, in order to recover the unmanned surface vehicle 50 to the mother ship 10, the launching device 400 provided in the unmanned surface vehicle 50 launches the launching member 430 to the mother ship 10.

At this time, the pull rope 310 is connected to the dummy rope 410, and the control unit drives the winch 330.

The winch 330 is driven in a direction in which the traction rope 310 is unwound, so that the traction rope 310 is transferred to the parent vessel 10 when the launching member 430 is launched onto the parent vessel 10.

The traction rope 310 coupling step is a step of coupling the traction rope 310 to the coupling unit 100 coupled to the crane 30.

In more detail, when the launching member 430 is launched onto the mother vessel 10, a crew member on the mother vessel 10 connects the traction rope 310 connected to the skimmer cable 410 to the connecting device.

And, when the crew connects the traction rope 310 connected to the skimmer cable 410 to the connection device, the skimmer cable 410 is wound around the launching device 400.

In this case, the launching device 400 is provided with a winch such as the winch 330 for winding or unwinding the skim cable 410, and such a winch as the winch 330 is obvious to those skilled in the art, and thus, a description thereof will be omitted.

Next, an unmanned boat towing procedure of a connection control method using the unmanned boat recovery connection device according to an embodiment of the present invention will be described with reference to fig. 5 to 6.

In this case, fig. 5 is a diagram showing a process in which the unmanned ship using the connection control method for the unmanned ship recovery connection device according to the embodiment of the present invention is moved to a position adjacent to the mother ship, and fig. 6 is a diagram showing a position in which the unmanned ship using the connection control method for the unmanned ship recovery connection device according to the embodiment of the present invention is located adjacent to the mother ship.

As shown in fig. 5 to 6, the unmanned boat pulling step is a step in which the winch 330 winds the pulling rope 310 to pull the unmanned boat 50 to a position adjacent to the mother ship 10.

The hauling rope 310 may be connected to the coupling unit 100 at a position where the unmanned boat 50 is spaced apart from the mother ship 10.

At this time, the control unit fixes the connection unit 100 connected to the crane 30 and controls the winch 330.

The winch 330 is driven in a direction of winding the traction rope 310, and thus the traction rope 310 is wound around the winch 330.

When the traction rope 310 is wound around the winch 330, the traction rope 310 connected to the coupling unit 100 becomes tight.

Therefore, the unmanned boat 50 movable on the water surface moves toward the coupling unit 100 fixed to the parent boat 10 by the tension applied to the pulling rope 310.

Thereby, the unmanned boat 50 spaced apart from the mother ship 10 can be transferred to a position adjacent to the mother ship 10.

Next, a connecting unit connecting procedure and an unmanned boat recovery procedure of a connection control method using the unmanned boat recovery connecting device according to an embodiment of the present invention will be described with reference to fig. 7 to 9.

At this time, fig. 7 is an enlarged view showing a connection control method using a connection device for unmanned boat recovery according to an embodiment of the present invention when the connection device lands on the storage unit, fig. 8 is a view showing a connection device for connection control using a connection device for unmanned boat recovery according to an embodiment of the present invention hanging on the guide portion, and fig. 9 is a view showing a connection control method using a connection device for unmanned boat recovery according to an embodiment of the present invention in which an unmanned boat is recovered on a mother ship.

As shown in fig. 7 to 9, the coupling unit coupling step is a step of coupling the coupling unit 100 to the storage unit 200 while dropping the coupling unit in accordance with the length of the traction rope 310 wound by the winch 330 when the magnitude of the tension applied to the traction rope 310 is equal to or greater than the set value.

In more detail, when the winch 330 continues to wind the traction rope 310, the unmanned boat 50 moving on the water surface may be located at a position vertically aligned with the coupling unit 100.

At this time, when the unmanned boat 50 is lifted to the upper side of the coupling unit 100 while the unmanned boat stops moving on the water surface, the magnitude of the tension acting on the pulling rope 310 is the set value.

When the tension applied to the traction rope 310 is greater than or equal to the predetermined value, the sensing unit transmits a signal to the control unit.

At this time, the control unit drops the coupling unit 100 according to the length of the traction rope 310 wound by the winch 330 after receiving the signal transmitted from the sensing unit.

More specifically, in order to prevent overload from being applied to the winch 330 due to the unmanned boat 50 being lifted before being connected to the coupling unit on the water surface when the magnitude of the tension acting on the pulling rope 310 is equal to or greater than the set value, the control unit may drop the coupling unit 100 according to the length of the pulling rope 310 wound by the winch 330 so as to maintain the magnitude of the tension acting on the pulling rope 310 not to exceed the set value.

Accordingly, it is possible to prevent the winch 330 from being overloaded or the traction rope 310 from being broken and to introduce the coupling unit 100 into the receiving unit 200.

At this time, when the magnitude of the tension applied to the pulling rope 310 is greater than or equal to the set value, the rope of the crane 30 for lifting and lowering the coupling unit 100 is lowered by a length L1 equal to the length L2 of the pulling rope 310 wound around the winch.

Therefore, the connecting unit 100 is lowered in a state where the connecting unit 100 and the unmanned boat 50 are positioned on the same straight line in the vertical direction, so that the portion of the body 110 of the connecting unit 100 where the blade portions 130 are provided is moved to the inside of the support portion 210 by the guide portion 230.

At this time, since the driving shaft 183 of the driving part 180 of the vane part 130 of the coupling unit 100 rotates in one direction from the center axis and the elevating part 150 is moved to the upper side, the elastic member 151 coupled to the other side of the vane part 130 pulls the other side of the vane part 130 to the upper side of the body 110 to make one side of the vane part 130 protrude.

The external force may be applied to one side of the blade 130 protruding as described above, and the external force may be applied to the one side of the blade 130 by contacting the second guide surface 235 and transferring the one side of the blade 130 into the body 110 when the winch 330 winds the traction rope 310 and introduces the connection unit 100 into the connection hole 231.

At this time, one side of the vane part 130 is accommodated in the body 110 by the external force, and the other side of the vane part 130 is shifted to a lower direction of the body 110, so that the length of the elastic member 151 is extended.

However, when the vane portion 130 moves to the inside of the support portion 210 by the second guide surface 235, the external force applied to one side of the vane portion 130 disappears.

At this time, the other side of the blade 130 is drawn to the upper side of the body 110 by the elastic restoring force of the elastic member 151, and one side of the blade 130 protrudes to the outside of the body 110.

Therefore, one side of the blade 130 is connected to the inner surface of the support portion 210.

Also, when the connection unit 100 cannot be drawn into the connection hole 231 due to an excessive sea wave and touches the first guide surface 233, the connection unit 100 may be drawn into the connection hole 231 when the winch 330 winds the traction rope 310 while inclining the first guide surface 233 toward the connection hole 231.

The following unmanned ship recovery step is a step of lifting and recovering the unmanned ship 50 to the parent ship 10 using the crane 30.

In more detail, when the connection unit 100 is connected to the storage unit 200, the control unit interrupts the driving of the winch 330.

That is, after the connection unit 100 is connected to the storage unit 200, the winch 330 is stopped to continue winding the traction rope 310, so that the winch 330 is prevented from being overloaded or the traction rope 310 is prevented from being broken.

At the same time, the control part lifts the connection unit 100.

The coupling unit 100 is lifted in a state of being coupled to the storage unit 200, so that the unmanned boat 50 can be lifted.

Therefore, the unmanned boat 50 can be recovered to the mother ship 10.

Next, a connecting unit detaching step of a connection control method using the connecting device for unmanned boat recovery according to an embodiment of the present invention will be described with reference to fig. 10.

As shown in fig. 10, the coupling unit detaching step is a step in which the control unit unlocks the winch 330 and lifts the coupling unit 100 after the unmanned boat 50 is transferred to the mother boat 10, thereby detaching the coupling unit 100 from the storage unit 200.

More specifically, when the unmanned boat 50 is collected into the mother ship 10 by connecting the connection unit 100 to the housing unit 200 and lifting the unmanned boat 50 by the crane 30 winding the connection unit 100, the connection unit 100 may be housed in the body 110 so as to be separated from the blade 130 from the housing unit 200.

At this time, since one side of the blade 130 is connected to the support portion 210, the control portion descends the connection unit 100 in order to accommodate one side of the blade 130 in the body 110.

Therefore, when one side of the vane part 130 can be accommodated in the space inside the body 110, the driving shaft 183 of the driving part 180 rotates in the other direction from the center axis, and the elevating part 150 moves to the lower side of the body 110, so that the elevating part 150 can push the other side of the vane part 130 to the lower side of the body 110.

Accordingly, the other side of the blade 130 is pushed toward the lower side of the body 110, and one side of the blade 130 is received in the body 110.

At this time, the control unit lifts the coupling unit 100 and drives the winch 330 to unwind the traction rope 310 from the winch 330.

Accordingly, the connection unit 100 is separated from the receiving unit 200.

Next, a process of recovering the unmanned ship to the mother ship by the connection control method using the unmanned ship recovery connection device according to the embodiment of the present invention will be described with reference to fig. 11.

At this time, fig. 11 is a diagram showing an operation procedure of a connection control method using the unmanned boat recovery connection device according to the embodiment of the present invention.

As shown in fig. 11, the unmanned surface vehicle 50 returning after performing the work transmits the transmitting device 400 connected to the pulling rope 310 to the mother ship 10 (S100).

Next, the personnel on the mother ship connects the hauling rope 310 launched on the mother ship 10 with the connection means 100 connected to the crane 30 (S200).

And a step (S300) of transferring the unmanned boat 50 to a position adjacent to the parent ship 10 by a tension applied to the pulling rope 310 when the winch 300 winds the pulling rope 310.

The sensing unit transmits a signal to the control unit when the magnitude of the tension applied to the pulling rope 310 is greater than or equal to the set value, and returns to the step (S400) of (S300) when the magnitude of the tension applied to the pulling rope 310 is less than the set value.

The control unit receives a signal from the sensing unit, and then drops the coupling unit 100 according to the length of the traction rope 310 wound by the winch 330 so that the magnitude of the tension applied to the traction rope 310 is maintained at the set value.

When the connection unit 100 is connected to the storage unit 200, the control unit interrupts the driving of the winch 330 and the lifting of the connection unit 100 to lift the unmanned boat 50 to the water surface (S700), and when the connection unit 100 is not connected to the storage unit 200, returns to the step (S600) (S500).

A step (S800) in which the control unit unlocks the winch 330 in the unmanned ship 50 collected in the mother ship 10, and lifts the connection unit 100 to separate the connection unit 100 from the storage unit 200.

As described above, while the preferred embodiments of the present invention have been described, it will be apparent to those skilled in the art to which the present invention pertains that the present invention can be embodied in other specific forms than the embodiments described above without departing from the spirit or scope of the invention.

Therefore, the above-described embodiments should not be construed as limiting, but rather as illustrative, and the present invention is not limited to the above description, but may be modified within the scope and equivalents of the appended claims.

Claims

1. A connecting device for unmanned ship recovery comprises:

a connection unit connected to a crane provided on the mother ship and moving up and down, formed in a strip shape, and having one side selectively expanded and protruded along an outer circumference;

a receiving unit provided in the unmanned ship, having a connecting hole communicating vertically, and into which at least a part of the connecting unit is inserted;

a guide unit which guides the connection unit to be connected to the receiving unit, and which includes a pulling rope formed in a long shape and connected to the connection unit while one side thereof passes through the connection hole, and a winch which is connected to the other side of the pulling rope and selectively winds or unwinds the pulling rope; and

a control unit including a sensing part for sensing tension applied to the traction rope by the driving of the winch and a control part for lowering the connection unit connected to the crane when the tension sensed by the sensing part is greater than or equal to a set value,

when the connection unit is lowered, the control unit lowers the connection unit by a length corresponding to the length of the traction rope wound around the winch to connect the connection unit and the storage unit,

the above-mentioned connecting unit includes:

a body formed in a strip shape in the vertical direction, and the upper part of the body is connected with the crane;

a blade portion provided on the body and having one side protruding to an outside of the body or housed in an inside of the body by rotating in an up-down direction;

a lifting part which is connected with the other side of the blade part in the body, can adjust the position along the vertical direction and is used for adjusting the protrusion of the blade part; and

and a driving part which selectively moves the lifting part up and down in the main body.

2. The unmanned boat recovery connection device of claim 1,

when the magnitude of the tension sensed by the sensing unit is equal to or less than a set value, the control unit rotates the winch, and moves the unmanned ship to a position adjacent to the parent ship by the hauling rope wound around the winch.

3. The unmanned boat recovery connection device of claim 1,

the control unit interrupts the driving of the winch when the connection unit is connected to the housing unit.

4. The unmanned boat recovery connection device of claim 1,

when the connection unit is disengaged from the housing unit, the control unit unlocks the winch to allow the connection unit to be separated.

5. The unmanned boat recovery connection device of claim 1,

the set value is a magnitude of tension applied to the towing rope when the winches wind the towing rope so that the unmanned boat is lifted above the water surface.

6. The unmanned boat recovery connection device of claim 1,

the driving unit is formed in a shape of a long axis along a vertical direction and selectively rotated, and the elevating unit is adjusted in a vertical position by the rotation of the driving unit.

7. The unmanned boat recovery connection device of claim 1,

the lifting part is provided with at least one elastic component which is arranged in the vertical direction, and the elastic component is connected to the other side of the blade part.

8. The unmanned boat recovery connection device of claim 7,

when the connecting means is inserted into the housing means, the blade portion is inserted in an expanded state, and the blade portion is temporarily folded due to the elasticity of the elastic member.

9. The unmanned boat recovery connection device of claim 1,

the plurality of blade portions are formed at intervals along the outer circumference of the connecting unit.

10. The unmanned boat recovery connection device of claim 1,

the storage unit includes:

a support section provided in the unmanned surface vehicle; and

and a guide part which is provided with the connection hole at the upper part of the support part and guides the connection unit to be introduced into the connection hole.

11. The unmanned boat recovery connection device of claim 10,

the guide portion includes:

a first guide surface having a larger circumferential length than the connecting means and having an inclined surface whose circumferential length decreases toward a lower portion; and

and a second guide surface continuously formed at a lower portion of the first guide surface and having a relatively larger inclination angle.

12. The unmanned boat recovery connection device of claim 11,

the second guide surface is formed to be inclined in the vertical direction and is in contact with the outer side surface of the connecting means.

13. The unmanned boat recovery connection device of claim 1,

one side of the traction rope is transmitted to the mother ship through a transmitting device equipped on the unmanned ship and is connected with the connecting unit.

14. A connection control method using the unmanned-boat retrieval-use connection device according to any one of claims 1 to 13, characterized by comprising:

a launching step, launching the traction rope to a mother ship through a launching device;

a hauling rope connecting step, wherein the hauling rope is connected with a connecting unit connected with a crane;

an unmanned ship towing step of winding the towing rope by a winch to tow the unmanned ship so that the unmanned ship is adjacent to the parent ship;

a connection unit connection step of, when the tension applied to the pulling rope is equal to or greater than a set value, descending and connecting the connection unit to a storage unit in accordance with the length of the pulling rope wound by the winch; and

and an unmanned ship recovery step, namely lifting the unmanned ship by using the crane and recovering the unmanned ship to the mother ship.

15. The connection control method using the connecting device for unmanned boat recovery according to claim 14,